Title :
A socially multi-robot target tracking method based on extended cooperative game theory
Author :
Yang Li ; Min Li ; Lianhang Dou ; Qingying Zhao ; Zhongya Wang ; Jie Li
Author_Institution :
Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China
Abstract :
This paper presents a cooperative, dynamic and complete information game scheme for socially multi-robot tracking. The concept of `variable order´ is introduced to specify the order of trackers´ movement. A free competition model for multi-robot system is proposed to compute member robot´s trajectory. A set of cost function are derived to evaluate the performance of tracking strategies optimally. The effectiveness of the proposed method has been validated by simulation results.
Keywords :
game theory; mobile robots; multi-robot systems; target tracking; cooperative-dynamic-complete information game scheme; cost function; extended cooperative game theory; free-competition model; member robot trajectory; performance evaluation; socially multirobot target tracking method; tracker movement order; variable order concept; Game theory; Games; Robot kinematics; Robot sensing systems; Target tracking;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090338
